; -*- mode: lisp; -*-

(RSG 0 1)
(
    (nd ContactJointHandler
        (setContactBounceMode false)
        (setContactBounceValue 0.001)
        (setMinBounceVel 10)

        (setContactSoftERPMode true)
        (setContactSoftERP 0.6)

        (setContactSoftCFMMode true)
        (setContactSoftCFM 1e-4)

        (setContactSlipMode true)
        (setContactSlip 5e-3)
    )
)